5-438
Movement parameter
5Functions set with parameters
5 Functions set with parameters
This controller has various parameters listed below. It is possible to change various functions and default
settings by changing the parameter settings.
For the parameters regarding dedicated I/O signals, refer to
Page 552, "6.2 Sequencer link I/O function"
.
After changing the parameters, make sure to turn the robot controller's power OFF and then turn ON.
Parameter settings will not be in effect until the power is turned on again. For detailed operating method for
parameters, refer to
Page 83, "3.15 Operation of parameter screen"
.
When changing parameters, check thoroughly the function and setting values first.
Otherwise, the robot may move unexpectedly, which could result in personal injury or
property damage.
5.1 Movement parameter
These parameters set the movement range, coordinate system and the items pertaining to the hand of the
robot.
Table 5-1:List Movement parameter
No.
Classification
Content
Reference
1
Movement parameter
These parameters set the movement range, coordinate system and the items
pertaining to the hand of the robot.
2
Signal parameter
These parameters set the items pertaining to signals.
3
Operation parameter
These parameters set the items pertaining to the operations of the controller, T/
B and so forth.
4
Command parameter
These parameters set the items pertaining to the robot language.
5
Communication parameter
These parameters set the items pertaining to communications.
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory setting
Joint movement
range
MEJAR
Real value 16 Set the overrun limit value for the joint coordinate system.
Sets the movement range for each axis. Expanding of the move-
ment range is not recommended, since there is possibility that
the robot may strike the mechanical stopper.
Note) Please note that the joint movement range of J1 axis can-
not be changed after the J1 axis offset angle (J1OFFSET)
is specified in vertical 5-axis type robot.
Set the minus and plus directions. (-J1,+J1,-J2,+J2,......-J8,+J8)
Unit:deg
Setting value for
each mechanism
XYZ movement
range
MEPAR
Real value 6 Set the overrun limit value for the XYZ coordinate system.
The movement range of the robot will be limited based on XYZ
coordinate system. This can be used to prevent the robot from
striking peripheral devices during manual operation when the
robot is installed within the device.
Set the minus and plus directions. (-X,+X,-Y,+Y,-Z,+Z) Unit:mm
(-X,+X,-Y,+Y,-
Z,+Z)=
-10000,10000,
-10000,10000,
-10000,10000
Narrow angle/Wide
angle limit function
* Only RV-4F/7F/
13F/20F series
MELTEXS
Integer 1
The function protected so that the robot arm head may not
interfere with the base is operating. Designate the valid/invalid
of this function.
Sets "0" to this parameter, when it is necessary to move the
head of arm near the base. In this case, take care that the arm
head and the base do not interfere.
Refer to Operating range diagram in separate manual: “Standard
Specifications” about area of Narrow angle/Wide angle limit.
0:Invalid
1: Valid
1(Valid)
Only RV-4F/7F/
13F/20F series.
Other types are 0
(invalid).
CAUTION
